DE102016204934A1 - Verfahren zum Betrieb einer Antriebsvorrichtung und eine Antriebsvorrichtung für ein Hybrid-Kraftfahrzeug - Google Patents

Verfahren zum Betrieb einer Antriebsvorrichtung und eine Antriebsvorrichtung für ein Hybrid-Kraftfahrzeug Download PDF

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Publication number
DE102016204934A1
DE102016204934A1 DE102016204934.8A DE102016204934A DE102016204934A1 DE 102016204934 A1 DE102016204934 A1 DE 102016204934A1 DE 102016204934 A DE102016204934 A DE 102016204934A DE 102016204934 A1 DE102016204934 A1 DE 102016204934A1
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Germany
Prior art keywords
electric machine
motor vehicle
recuperation
combustion engine
electrical
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Pending
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DE102016204934.8A
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German (de)
English (en)
Inventor
Michael Zillmer
David Prochazka
Christian Felsch
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Volkswagen AG
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Volkswagen AG
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Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE102016204934.8A priority Critical patent/DE102016204934A1/de
Priority to CN201710177037.5A priority patent/CN107226081B/zh
Publication of DE102016204934A1 publication Critical patent/DE102016204934A1/de
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/442—Series-parallel switching type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/142—Emission reduction of noise acoustic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
DE102016204934.8A 2016-03-24 2016-03-24 Verfahren zum Betrieb einer Antriebsvorrichtung und eine Antriebsvorrichtung für ein Hybrid-Kraftfahrzeug Pending DE102016204934A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE102016204934.8A DE102016204934A1 (de) 2016-03-24 2016-03-24 Verfahren zum Betrieb einer Antriebsvorrichtung und eine Antriebsvorrichtung für ein Hybrid-Kraftfahrzeug
CN201710177037.5A CN107226081B (zh) 2016-03-24 2017-03-23 用于运行驱动装置的方法和用于混合动力汽车的驱动装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016204934.8A DE102016204934A1 (de) 2016-03-24 2016-03-24 Verfahren zum Betrieb einer Antriebsvorrichtung und eine Antriebsvorrichtung für ein Hybrid-Kraftfahrzeug

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CN (1) CN107226081B (zh)
DE (1) DE102016204934A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017126229A1 (de) * 2017-11-09 2019-05-09 Schaeffler Technologies AG & Co. KG Verfahren zur Steuerung eines Kraftfahrzeugs mit Handschaltgetriebe
DE102018217740A1 (de) 2018-10-17 2019-12-24 Audi Ag Verfahren zum Halten eines Kraftfahrzeugs in einer Halteposition während einer Haltephase, in welcher eine Rollbewegung des Kraftfahrzeugs verhindert werden soll, sowie zugehöriges Kraftfahrzeug
DE102019208100A1 (de) * 2019-06-04 2020-12-10 Vitesco Technologies GmbH Verfahren zur Steuerung eines Hybridantriebs eines Antriebsstrangs
CN112208342A (zh) * 2019-07-09 2021-01-12 日立汽车系统（中国）有限公司 电动车的制动系统以及电动车
DE102020106320A1 (de) 2020-03-09 2021-09-09 Zf Cv Systems Global Gmbh Verfahren zum Betreiben eines elektrischen Antriebssystems eines Anhängefahrzeugs einer Zugfahrzeug-Anhängefahrzeug-Kombination sowie elektrisches Antriebssystem
DE102021207649A1 (de) 2021-07-19 2023-01-19 Zf Friedrichshafen Ag Verfahren zum Steuern einer elektrischen Maschine einer Arbeitsmaschine

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AT12010U2 (de) * 2011-04-04 2011-09-15 Ve Vienna Engineering Forschungs Und Entwicklungs Gmbh Elektrofahrzeug mit radindividuellen reibungsbremsen und radindividuellem antrieb und bremsverfahren dafür
DE112011104708T5 (de) * 2011-01-12 2013-10-24 Toyota Jidosha Kabushiki Kaisha Steuervorrichtung eines Hybridfahrzeugs
DE102012020879B3 (de) * 2012-10-24 2014-03-13 Audi Ag Hydraulische Bremsanlage
DE102012020880A1 (de) * 2012-10-24 2014-04-24 Audi Ag Kraftfahrzeug mit einem Hybrid- oder Elektroantrieb

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US9527388B2 (en) * 2011-01-31 2016-12-27 Suzuki Motor Corporation Regenerative control device and regenerative control method and hybrid motor vehicle
DE102011101543A1 (de) * 2011-05-14 2012-11-15 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Steuerung einer Bremsleistung eines Elektro- oder Hybridfahrzeugs
CN103129551B (zh) * 2011-11-23 2015-04-22 联创汽车电子有限公司 混合动力车的制动控制系统
AU2014241787B2 (en) * 2013-03-14 2016-07-28 Allison Transmission, Inc. System and method for power management during regeneration mode in hybrid electric vehicles
CN104249733A (zh) * 2013-06-28 2014-12-31 上海汽车集团股份有限公司 一种车辆能量回收控制方法
CN104512410A (zh) * 2013-09-29 2015-04-15 北汽福田汽车股份有限公司 四驱混合动力汽车的控制方法
CN103738192B (zh) * 2013-12-19 2017-02-22 北京新能源汽车股份有限公司 双电机两档驱动系统及其制动控制方法
CN104276050B (zh) * 2014-01-30 2015-08-26 比亚迪股份有限公司 车辆及其的制动回馈控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT9756U1 (de) * 2006-12-11 2008-03-15 Magna Steyr Fahrzeugtechnik Ag Verfahren zur steuerung des hybridantriebes eines kraftfahrzeuges und steuersystem
DE112011104708T5 (de) * 2011-01-12 2013-10-24 Toyota Jidosha Kabushiki Kaisha Steuervorrichtung eines Hybridfahrzeugs
AT12010U2 (de) * 2011-04-04 2011-09-15 Ve Vienna Engineering Forschungs Und Entwicklungs Gmbh Elektrofahrzeug mit radindividuellen reibungsbremsen und radindividuellem antrieb und bremsverfahren dafür
DE102012020879B3 (de) * 2012-10-24 2014-03-13 Audi Ag Hydraulische Bremsanlage
DE102012020880A1 (de) * 2012-10-24 2014-04-24 Audi Ag Kraftfahrzeug mit einem Hybrid- oder Elektroantrieb

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017126229A1 (de) * 2017-11-09 2019-05-09 Schaeffler Technologies AG & Co. KG Verfahren zur Steuerung eines Kraftfahrzeugs mit Handschaltgetriebe
DE102018217740A1 (de) 2018-10-17 2019-12-24 Audi Ag Verfahren zum Halten eines Kraftfahrzeugs in einer Halteposition während einer Haltephase, in welcher eine Rollbewegung des Kraftfahrzeugs verhindert werden soll, sowie zugehöriges Kraftfahrzeug
DE102019208100A1 (de) * 2019-06-04 2020-12-10 Vitesco Technologies GmbH Verfahren zur Steuerung eines Hybridantriebs eines Antriebsstrangs
CN112208342A (zh) * 2019-07-09 2021-01-12 日立汽车系统（中国）有限公司 电动车的制动系统以及电动车
CN112208342B (zh) * 2019-07-09 2024-05-28 日立汽车系统（中国）有限公司 电动车的制动系统以及电动车
DE102020106320A1 (de) 2020-03-09 2021-09-09 Zf Cv Systems Global Gmbh Verfahren zum Betreiben eines elektrischen Antriebssystems eines Anhängefahrzeugs einer Zugfahrzeug-Anhängefahrzeug-Kombination sowie elektrisches Antriebssystem
DE102021207649A1 (de) 2021-07-19 2023-01-19 Zf Friedrichshafen Ag Verfahren zum Steuern einer elektrischen Maschine einer Arbeitsmaschine

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CN107226081B (zh) 2021-05-14

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